10/11/2014HYPACK® Multibeam Training Seminar1 Retractable Bow Mounted Transducer POS/MV...
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Transcript of 10/11/2014HYPACK® Multibeam Training Seminar1 Retractable Bow Mounted Transducer POS/MV...
04/11/23 HYPACK® Multibeam Training Seminar 1
Retractable Bow Mounted TransducerRetractable Bow Mounted Transducer
POS/MV positioning, POS/MV positioning, heading & motion heading & motion sensorsensor
Bow Mounted –Bow Mounted –transducer rotates thru transducer rotates thru slot in bow slot in bow
INSTALLATIONINSTALLATION
HYPACK ® MULTIBEAM COURSE
04/11/23 HYPACK® Multibeam Training Seminar 2
Retractable Bow Mounted TransducerRetractable Bow Mounted Transducer
Gahagan & BryantPort of LA/LB
POS/MV positioning, POS/MV positioning, heading & motion heading & motion sensorsensor
Bow Mounted –Bow Mounted –transducer rotates thru transducer rotates thru slot in bow slot in bow
04/11/23 HYPACK® Multibeam Training Seminar 3
Retractable Bow Mounted TransducerRetractable Bow Mounted Transducer(Extending forward of bow)(Extending forward of bow)
Assembly hinge
RLDA, Inc. -- Puerto Rico
04/11/23 HYPACK® Multibeam Training Seminar 4
Side Mounted TransducerSide Mounted Transducer
US Army Corps of Engineers -- US Army Corps of Engineers -- Galveston DistrictGalveston District
04/11/23 HYPACK® Multibeam Training Seminar 5
Fixed Hull-Mounted Fixed Hull-Mounted Multibeam TransducerMultibeam Transducer
US Army Corps of Engineers -- US Army Corps of Engineers -- Norfolk & New York DistrictsNorfolk & New York Districts
RESON SeaBat 8101 with fabricated for-and-aft conical fairings
RESON SeaBat 8101 installation on Survey Vessel Adams II (Norfolk District)
04/11/23 HYPACK® Multibeam Training Seminar 6
Hydraulic Bow Mount with Tilt CapabilityHydraulic Bow Mount with Tilt Capability
04/11/23 HYPACK® Multibeam Training Seminar 7
Vessel of Opportunity -- 18’ Center ConsoleVessel of Opportunity -- 18’ Center Console
04/11/23 HYPACK® Multibeam Training Seminar 8
04/11/23 HYPACK® Multibeam Training Seminar 9
04/11/23 HYPACK® Multibeam Training Seminar 10
Aft – Side Mount with Tilt CapabilityAft – Side Mount with Tilt Capability
04/11/23 HYPACK® Multibeam Training Seminar 11
Aft – Side Mount with Safety TiltAft – Side Mount with Safety Tilt
04/11/23 HYPACK® Multibeam Training Seminar 12
04/11/23 HYPACK® Multibeam Training Seminar 13
Aft – Side Mount with Pivot Aft – Side Mount with Pivot Smaller Bow – Side Mount Smaller Bow – Side Mount with Pivotwith Pivot
04/11/23 HYPACK® Multibeam Training Seminar 14
Vessel of Opportunity -- 135’ Oil Rig Supply BoatVessel of Opportunity -- 135’ Oil Rig Supply Boat
04/11/23 HYPACK® Multibeam Training Seminar 15
04/11/23 HYPACK® Multibeam Training Seminar 16
Aft - Side Mount with Adjustable Pivoting BracketAft - Side Mount with Adjustable Pivoting Bracket
04/11/23 HYPACK® Multibeam Training Seminar 17
04/11/23 HYPACK® Multibeam Training Seminar 18
Elaborate Front Electronic MountElaborate Front Electronic Mount
04/11/23 HYPACK® Multibeam Training Seminar 19
Custom-built Vessel of Opportunity -- Rigid Bow MountCustom-built Vessel of Opportunity -- Rigid Bow Mount
04/11/23 HYPACK® Multibeam Training Seminar 20
Robotic Total Station Robotic Total Station for Positioning in the for Positioning in the
Canyon.Canyon.
04/11/23 HYPACK® Multibeam Training Seminar 21
Retractable Bow Mounted TransducerRetractable Bow Mounted Transducer
POS/MV positioning, POS/MV positioning, heading & motion heading & motion sensorsensor
Bow Mounted –Bow Mounted –transducer rotates thru transducer rotates thru slot in bow slot in bow MOUNTING LOCATIONS MOUNTING LOCATIONS
AND AND OFFSETSOFFSETS
HYPACK ® MULTIBEAM COURSE
04/11/23 HYPACK® Multibeam Training Seminar 22
OK, so where do I mount my OK, so where do I mount my Multibeam System ??Multibeam System ??
04/11/23 HYPACK® Multibeam Training Seminar 23
Boat Reference Point Boat Reference Point (RP)(RP)
1)1) Locate your Boat’s Center Locate your Boat’s Center of Gravity (CG). of Gravity (CG).
2)2) This will be critical to This will be critical to performing very accurate performing very accurate and repeatable surveys.and repeatable surveys.
3)3) Understand that your boat’s Understand that your boat’s CG may be CG may be dynamicdynamic and and need to be monitored. need to be monitored.
04/11/23 HYPACK® Multibeam Training Seminar 24
1)1) Mount your Motion Sensor Mount your Motion Sensor (MRU or IMU) at the CG or as close as possible.(MRU or IMU) at the CG or as close as possible.
2)2) Multibeam Mounting (Main Concern - Multibeam Mounting (Main Concern - MOUNT AS RIGID AS POSSIBLEMOUNT AS RIGID AS POSSIBLE))
• (Order of preference)(Order of preference)
• Hull Mount at boat’s CG.Hull Mount at boat’s CG.• Moon Pool at boat’s CGMoon Pool at boat’s CG• Pole Mount; Thru Hull, Over-the-BowPole Mount; Thru Hull, Over-the-Bow Mount or Over-the-Side Mount.Mount or Over-the-Side Mount.
3)3) Positioning System Positioning System Place your GPS antennae as high as possible and directly Place your GPS antennae as high as possible and directly above the Boat’s CG or as close as possible. Alternate Positioning Systems will above the Boat’s CG or as close as possible. Alternate Positioning Systems will require the most visible “line of sight” as possible also (ie. Robotic Total Station)require the most visible “line of sight” as possible also (ie. Robotic Total Station)
4)4) Heading Device Heading Device Location not as critical, however, accurate Offset measurements Location not as critical, however, accurate Offset measurements and placement, will aid in the most accurate data possible.and placement, will aid in the most accurate data possible.
InstallationInstallation
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04/11/23 HYPACK® Multibeam Training Seminar 26
04/11/23 HYPACK® Multibeam Training Seminar 27
04/11/23 HYPACK® Multibeam Training Seminar 28
Install your equipment and very accurately locate each Install your equipment and very accurately locate each piece with respect to the Boat’s RP/CG.piece with respect to the Boat’s RP/CG.
NOTE: NOTE: This is usually done with a Land Surveyor’s This is usually done with a Land Surveyor’s Total Station.Total Station.
“Red Rogers” and drawing of device locations
04/11/23 HYPACK® Multibeam Training Seminar 29
20’ Pontoon w/ Dual Ant. DGPS 20’ Pontoon w/ Dual Ant. DGPS and Small MB Systemand Small MB System
04/11/23 HYPACK® Multibeam Training Seminar 30
30’ SeaArk w/ RTK-POS MV30’ SeaArk w/ RTK-POS MV& High Res. Multibeam& High Res. Multibeam
22’ Jon Boat w/ Dual Ant. DGPS 22’ Jon Boat w/ Dual Ant. DGPS and Small MB Systemand Small MB System
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OffsetsOffsetsAdjusting the data for:
•Boat Reference Point: Boat Reference Point: Vessel Center of Gravity = XY (0,0) (Boat Origin) Static waterline = Z (0)
•Device LocationDevice Location:: Offsets in X (Stbd), Y (Fwd), and Z (Vertical) measured from Boat Reference Point.
•Device RotationDevice Rotation: Pitch, Roll and Yaw orientation of directional devices (MRU & Gyro) with respect to the multibeam sonar.
•Device LatencyDevice Latency:: Time delay = data arrival time – data valid time. (Lack of Synchronization between Positioning Device
and Sonar Device.)
Tracking PointTracking Point:: XY location of the sonar head. For Survey Program’s Left/Right Indicator.
Important !! Important !! Crucial for collecting good overlapping Patch Test Data
HYPACK® Multibeam Training Seminar04/11/23 31
04/11/23 HYPACK® 2009 Training Seminar 32
MRU is at boat origin, Tracking Point is over the transducerMRU is at boat origin, Tracking Point is over the transducer..
MRU
MRU
Multibeam TRANSDUCER
Multibeam TRANSDUCER
+X+X
+X+X
+Y+Y
+Z+Z
Boat Reference System
Tracking Point
Boat Origin & Tracking PointBoat Origin & Tracking Point
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HYPACK® Multibeam Training Seminar
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MRUMRU
Multibeam TRANSDUCER
+X+X +X+X
+Y+Y
Multibeam TRANSDUCER
+Z+Z
MRU is on Side Mount Pole with the Multibeam Transducer, and the RTK MRU is on Side Mount Pole with the Multibeam Transducer, and the RTK GPS Antenna is over both the MRU and the Multibeam TransducerGPS Antenna is over both the MRU and the Multibeam Transducer. .
Then, Boat Reference Point can be at the Side Mount Pole location.Then, Boat Reference Point can be at the Side Mount Pole location.
Boat Reference Point
Exception to the RuleException to the Rule
RTK GPS
RTK GPS
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04/11/23 37HYPACK® Multibeam Training Seminar
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Step 1: HYPACK®Step 1: HYPACK® Hardware Exercise:Hardware Exercise:
Project: MB HYPACK Hardware ConfigProject: MB HYPACK Hardware Config
There are 6 Basic setups, There are 6 Basic setups,
They consist of :They consist of :
1)1)Basic DGPS 3) Basic INS w/ DGPSBasic DGPS 3) Basic INS w/ DGPS2)2)Basic RTK 4) INS – RTK Basic RTK 4) INS – RTK 5) INS w/ Separate RTK 5) INS w/ Separate RTK
6) Robotic Total Station6) Robotic Total Station
04/11/23 39HYPACK® Multibeam Training Seminar
Step 1: HYPACK® HardwareStep 1: HYPACK® HardwareConfigure HYPACK® Hardware for:
1)Positioning System and
2)HYSWEEP® data thru…
Position, Tide, Draft, [Heading]
Depth, Heave, Pitch, Roll, [Heading]
HYSWEEP® Survey
HYPACK® Survey
Shared memory transfer…
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Step 1: HYPACK® HardwareStep 1: HYPACK® HardwareDevices:Devices:• Select Positioning System:
• GPS.DLLGPS.DLL for position from COM port. Heading and tide if needed.
• POSMV.DLLPOSMV.DLL or F180.DLLF180.DLL for positions over a network. Tide if needed.
• Geodimeter.DLLGeodimeter.DLL for the use with a Robotic Total Station.
• HYSWEEP.DLLHYSWEEP.DLL for HYSWEEP® Nadir depth, Swath painting of Matrix in Map Window, and Heading and Motion data from Shared Memory.
•Click on Hypack Configuration, then under the Synchronize the Computer Clock :
(Select the Device that is bringing in the ZDA and/or 1PPS data.)
Click on Boat, then under the Coordinates of Tracking Point window, Enter the Multibeam Head Offsets.
04/11/23 HYPACK® Multibeam Training Seminar 41
Step 2: HYSWEEP®Step 2: HYSWEEP® Hardware Exercise:Hardware Exercise:
Project: MB HYPACK Hardware ConfigProject: MB HYPACK Hardware Config
There are 5 Basic setups, There are 5 Basic setups,
They consist of :They consist of :
HYPACK Navigation HYPACK Navigation and and
1)1)MRU, Gyro, MB MRU, Gyro, MB 2)2)Dual Antenna DGPS w/ Heading, MRU, MBDual Antenna DGPS w/ Heading, MRU, MB3)3)INS Serial or Network w/ Motion & Heading, MBINS Serial or Network w/ Motion & Heading, MB4)4)INS Network w/ Motion & Heading, 7125 MBINS Network w/ Motion & Heading, 7125 MB5)5)INS Network w/ Motion & Heading, Riegl Laser LMS-120QINS Network w/ Motion & Heading, Riegl Laser LMS-120Q
04/11/23 42HYPACK® 2009 Training Seminar
Step 2: HYSWEEP® HardwareStep 2: HYSWEEP® HardwareConfigure HYSWEEP® Hardware for:
• MUST Use HYPACK Navigation driver.
• This will bring Position, Tide, and Dynamic Draft from HYPACK® Survey via shared memory.
(Heading, if limited ComPorts are available)
• Add HYPACK Mobile driver, if multibeam is on an ROV, or towing Sidescan or collecting a redundant Positioning System.
•Multibeam, MRU and Heading from other HYSWEEP® network and COM drivers.
Hardware program: Use buttons to Add / Remove device drivers.
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Navigation DeviceNavigation Device
Offsets:Offsets:•Enter GPS antenna offsets measured from Boat Origin.
•Vertical offset is positive downward (i.e. negative above waterline).
•Enter GPS latency if any.
(Offsets DO NOT carry thru Shared Memory)
The HYPACK Navigation device is required and is installed by default. Not good if you delete it.
Connect:Connect:• Shared Memory transfer is automatic and requires no configuration.
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Heading Device Heading Device (Gyro or Dual Antenna GPS)(Gyro or Dual Antenna GPS)
Connect:Connect:• Serial Connection
Offsets:Offsets:•Gyro offsets are not critical but can be entered as measured from boat origin.
04/11/23HYPACK® Multibeam Training Seminar 45
Motion DeviceMotion DeviceHeave, Pitch, and Roll Compensators (MRUs or IMUs)
Connect:Connect:• Either thru Serial or
Ethernet connection
Offsets:Offsets:•Enter MRU/IMU offsets measured from boat origin.
•Vertical offset is positive downward (i.e. negative above waterline)
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Multibeam DeviceMultibeam DeviceSetup Button:Setup Button:•Use the Setup button to enter manufacturer specific information.
HYSWEEP® Connect:HYSWEEP® Connect:• A Port Number is required for all network devices.
• Internet Address required for TCP/IP devices.
• Refer to Hysweep Interfacing.doc for details. Your best configuration friend.
Windows Windows Network Network Setup:Setup:
•Network address of the survey computer is set under Windows TCP/IP properties.
HYPACK® Multibeam Training Seminar